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@carokhan
carokhan committed Oct 23, 2024
1 parent 5eb048c commit 0633ff8
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Showing 6 changed files with 33 additions and 25 deletions.
1 change: 1 addition & 0 deletions simgui.json
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Expand Up @@ -10,6 +10,7 @@
"types": {
"/AdvantageKit/RealOutputs/Climb/Mechanism2d": "Mechanism2d",
"/AdvantageKit/RealOutputs/Visualizer/FullRobot": "Mechanism2d",
"/AdvantageKit/RealOutputs/Visualizer/M_main": "Mechanism2d",
"/FMSInfo": "FMSInfo",
"/SmartDashboard/Climb Down": "Command",
"/SmartDashboard/Climb Up": "Command",
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10 changes: 5 additions & 5 deletions src/main/java/frc/robot/BuildConstants.java
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Expand Up @@ -5,12 +5,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "Forte-2-5";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 86;
public static final String GIT_SHA = "d3a4a8707328591d90a430f102dc2b82e8cbbb9b";
public static final String GIT_DATE = "2024-10-18 06:22:47 EDT";
public static final int GIT_REVISION = 89;
public static final String GIT_SHA = "5eb048c58fec65b3f00463e715a48f1dd720a332";
public static final String GIT_DATE = "2024-10-23 06:52:00 EDT";
public static final String GIT_BRANCH = "main";
public static final String BUILD_DATE = "2024-10-22 21:05:57 EDT";
public static final long BUILD_UNIX_TIME = 1729645557657L;
public static final String BUILD_DATE = "2024-10-23 19:29:37 EDT";
public static final long BUILD_UNIX_TIME = 1729726177390L;
public static final int DIRTY = 1;

private BuildConstants() {}
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20 changes: 10 additions & 10 deletions src/main/java/frc/robot/Constants.java
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Expand Up @@ -28,7 +28,7 @@
public final class Constants {
public static final double loopPeriodSecs = 0.02;

public static final Mode currentMode = Mode.REAL;
public static final Mode currentMode = Mode.SIM;

public static enum Mode {
/** Running on a real robot. */
Expand Down Expand Up @@ -121,7 +121,7 @@ public static class DriveConstants {

public static final int driveSupplyCurrent = 50; // 70
public static final int driveStatorCurrent = 90; // 120
public static final int turnCurrent = 30; // 30
public static final int turnCurrent = 40; // 30

public static final double odometeryFrequency = 250;
public static final double updateFrequency = 100;
Expand All @@ -130,7 +130,7 @@ public static class DriveConstants {
// public static final double maxLinearVelocity = Units.feetToMeters(1.4);
public static final double maxLinearAccel = 8.0;

public static final double maxAngularVelocity = 10;
public static final double maxAngularVelocity = 20;
public static final double maxAngularAccel = 10;

public static double kPDriveReal = 2.0;
Expand All @@ -139,7 +139,7 @@ public static class DriveConstants {
public static double kVDriveReal = 1.93;
public static double kADriveReal = 0.25;

public static double kPTurnReal = 3; // 1.5?
public static double kPTurnReal = 2.5; // 1.5?
public static double kDTurnReal = 0.0;

public static double kPDriveSim = 0.3;
Expand Down Expand Up @@ -216,7 +216,7 @@ public static class IntakeConstants {
public static final double simOffset = 1.27838411;

public static final int pivotCurrentLimit = 30;
public static final int rollerCurrentLimit = 70;
public static final int rollerCurrentLimit = 60;

public static final double kGPivot = 0.5;
public static final double kVPivot = 1.06;
Expand Down Expand Up @@ -265,7 +265,7 @@ public static class ShooterConstants {
// public static final double pivotMOI = .0001;

public static final double maxPivotVelocity = 20;
public static final double maxPivotAccel = 5;
public static final double maxPivotAccel = 10;

public static final double pivotAbsConversion = Math.PI * 2.0;
public static final double pivotEncConversion = 2.0 * Math.PI / pivotRatio;
Expand All @@ -279,10 +279,10 @@ public static class ShooterConstants {

public static final double shooterMOI = 0.00920287973;

public static final int pivotCurrentLimit = 25;
public static final int pivotCurrentLimit = 15;

public static final double kGPivot = 0.381640625;
public static final double kVPivot = 0.875;
public static final double kGPivot = 0.38;
public static final double kVPivot = 0.8;
public static final double kAPivot = 0.00;

public static final double kVShooter = 0.0055; // COMP: 0.0055, DEMO: 0.0041875
Expand All @@ -292,7 +292,7 @@ public static class ShooterConstants {
public static final double kIShooterReal = 0.00000;
public static final double kSShooterReal = 0;

public static final double kPPivot = 5.0;
public static final double kPPivot = 3.0;

public static final double kPShooterSim = 0.5;
public static final double kIShooterSim = 0.0;
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4 changes: 0 additions & 4 deletions src/main/java/frc/robot/Robot.java
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Expand Up @@ -15,12 +15,10 @@

import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;

import java.io.File;
import java.io.IOException;
import java.nio.file.Files;
import java.util.Arrays;

import org.littletonrobotics.junction.LogFileUtil;
import org.littletonrobotics.junction.LoggedRobot;
import org.littletonrobotics.junction.Logger;
Expand Down Expand Up @@ -104,8 +102,6 @@ public void robotInit() {
robotContainer = new RobotContainer();
}



/** This function is called periodically during all modes. */
@Override
public void robotPeriodic() {
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6 changes: 3 additions & 3 deletions src/main/java/frc/robot/subsystems/drive/ModuleIOReal.java
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Expand Up @@ -188,15 +188,15 @@ public ModuleIOReal(int index) {
PeriodicFrame.kStatus2, (int) (1000.0 / DriveConstants.odometeryFrequency));
}

turnRelativeEncoder.setPosition(getAbsoluteEncoder());

turnPID.setPositionPIDWrappingEnabled(true);
turnPID.setPositionPIDWrappingMinInput(-Math.PI);
turnPID.setPositionPIDWrappingMaxInput(Math.PI);

turnSparkMax.burnFlash();
turnSparkMax.setCANTimeout(0);

turnRelativeEncoder.setPosition(getAbsoluteEncoder());

timestampQueue = HybridOdometryThread.getInstance().makeTimestampQueue();

drivePosition = driveTalon.getPosition();
Expand Down Expand Up @@ -225,7 +225,7 @@ public ModuleIOReal(int index) {

@Override
public void processInputs(ModuleIOInputsAutoLogged inputs) {
if (iLoveRev % 50 == 0) {
if (iLoveRev % 25 == 0) {
turnRelativeEncoder.setPosition(getAbsoluteEncoder());
}

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17 changes: 14 additions & 3 deletions src/main/java/frc/robot/subsystems/pivot2/Pivot.java
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Expand Up @@ -19,6 +19,7 @@
public class Pivot extends SubsystemBase {
public PivotIO io;
public PivotIOInputsAutoLogged inputs = new PivotIOInputsAutoLogged();
boolean overshoot;

private ArmFeedforward pivotFF =
new ArmFeedforward(
Expand All @@ -45,15 +46,25 @@ public Pivot(PivotIO io) {
public void periodic() {
io.processInputs(inputs);
Logger.processInputs("Shooter/Pivot", inputs);
overshoot =
(inputs.pivotPosition.getRadians() > inputs.pivotTargetPosition.getRadians())
&& (inputs.pivotTargetPosition.getRadians() != 0);

// if (overshoot) {
// io.setPivotVoltage(
// pivotPID.calculate(
// inputs.pivotPosition.getRadians(), inputs.pivotTargetPosition.getRadians()));
// }
Logger.recordOutput("Test/Overshoot", overshoot);
}

public Command setPivotTarget(DoubleSupplier radians) {
return this.run(
() -> {
double volts =
pivotPID.calculate(inputs.pivotPosition.getRadians(), radians.getAsDouble())
+ pivotFF.calculate(
pivotPID.getSetpoint().position, pivotPID.getSetpoint().velocity);
pivotPID.calculate(inputs.pivotPosition.getRadians(), radians.getAsDouble());
// + pivotFF.calculate(
// pivotPID.getSetpoint().position, pivotPID.getSetpoint().velocity);

io.setPivotVoltage(volts);
inputs.pivotAppliedVolts = volts;
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